CN201342673Y - Dual-motor locking mechanism - Google Patents
Dual-motor locking mechanism Download PDFInfo
- Publication number
- CN201342673Y CN201342673Y CNU2009200182979U CN200920018297U CN201342673Y CN 201342673 Y CN201342673 Y CN 201342673Y CN U2009200182979 U CNU2009200182979 U CN U2009200182979U CN 200920018297 U CN200920018297 U CN 200920018297U CN 201342673 Y CN201342673 Y CN 201342673Y
- Authority
- CN
- China
- Prior art keywords
- hydraulic motor
- oil circuit
- circuit mouth
- pressure
- oil
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The utility model relates to a dual-motor locking mechanism, wherein a driving power is fixed on an inner ring of a rotary support and drives gears, a rotary support big gear ring fixed on a base is engaged with the gears, a first and a second hydraulic motors of the driving power respectively drive one of the gears, the first and the second hydraulic motors are connected in series for use, a second oil path port of the first hydraulic motor is connected with a first oil path port of the second hydraulic motor, and is connected with pressure oil after the pressure reduction, the first oil path port of the first hydraulic motor or the second oil path port of the second hydraulic motor is connected with the pressure oil which is output by a hydraulic pump or both the two oil path ports are cut off with the pressure oil which is output by a hydraulic pump, when the oil path ports on both ends of the two hydraulic pressure motors are cut off with the pressure oil which is output by the hydraulic pump, the two gears with the reverse rotating directions are respectively contacted and engaged with the reverse gear surfaces of the gears of the rotary support big gear ring, which tightly locks the rotary supporting inner ring, and eliminates the effect to the engaged return-stroke gap of the gears, thereby guaranteeing the integral rotating precision.
Description
Technical field
The utility model relates to the robot revolute device, is a kind of double motor retaining mechanism of slewing equipment concretely.
Background technology
Along with the progress of machine-building processing industry, industrial robot is applied to production widely.The rotating accuracy of the whole slewing equipment of robot is related to the production and processing quality, and the gear backlash of gear drive slewing equipment has influence on rotating accuracy, has restricted the raising of automatic producing technology.For this reason, the gear backlash of effort elimination or minimizing slewing equipment has great significance to the raising of rotating accuracy.
Summary of the invention
The utility model will solve the technical problem that the slewing equipment gear backlash influences rotating accuracy, and a kind of double motor retaining mechanism of eliminating gears engaged backhaul gap affects is provided.
In order to solve the problems of the technologies described above, the utility model is taked following technical scheme: a kind of double motor retaining mechanism, comprise fixedly connected driving power on the revolution support inner ring 3, drive power-actuated gear 8, support bull gear 2 with the revolution that is fixed on the base 1 of gear 8 engagements, it is characterized in that first hydraulic motor 6 and second hydraulic motor 10 of driving power respectively drive a gear 8; First hydraulic motor 6 and second hydraulic motor 10 series connection are used, and second oil circuit mouth 12 of first hydraulic motor 6 links to each other with first oil circuit mouth 13 of second hydraulic motor 10, and is connected with post-decompression pressure oil; First oil circuit mouth 11 of first hydraulic motor 6 or second oil circuit mouth of second hydraulic motor 10 14 connect the pressure oil of hydraulic pump output or the pressure oil of both and hydraulic pump output disconnects.
When first oil circuit mouth 11 of first hydraulic motor 6 connects the pressure oil of hydraulic pump output, flow through successively first oil circuit mouth 11 of first hydraulic motor 6 of pressure oil, first oil circuit mouth 13 of 12 to second hydraulic motors 10 of second oil circuit mouth, second oil circuit mouth 14 got back to fuel tank 20, first hydraulic motor 6 and second hydraulic motor 10 rotate in the same way, homodromal two gears 8 support bull gear 2 engagements with revolution, inner ring 3 rotations are supported in revolution, when second oil circuit mouth 14 of hydraulic motor 10 connects the pressure oil of hydraulic pump output, pressure oil successively reverse flow through second oil circuit mouth 14 of second hydraulic motor 10, first oil circuit mouth 13 is to second oil circuit mouth 12 of first hydraulic motor 6, first oil circuit mouth 11 is got back to fuel tank 20, first hydraulic motor 6 and second hydraulic motor 10 rotate together in the opposite direction, revolution is supported inner ring 3 and is rotated in the opposite direction, and the pressure oil of second oil circuit mouth 14 both of first oil circuit mouth 11 of first hydraulic motor 6 and second hydraulic motor 10 and hydraulic pump output is when disconnecting, connect oil circuit mouth 12 always, the post-decompression pressure oil of oil circuit mouth 13 acts on first hydraulic motor 6 and second hydraulic motor 10 respectively, has the trend of ordering about first hydraulic motor 6 and second hydraulic motor 10 mutual reverse rotation, two gears 8 with reverse rotation trend support the opposite flank of tooth contact engagement of bull gear 2 gear teeth with revolution respectively, inner ring 3 is supported in the locking revolution, eliminate the influence in gears engaged backhaul gap, guaranteed robot whole revolution support rotating accuracy.
The fixedly connected base 1 of end face of bull gear 2 is supported in revolution, and the fixedly connected work top 4 of end face of inner ring 3 is supported in revolution, and revolution is supported inner ring 3 and can be rotated, and hydraulic motor 6,10 is fixed on the work top 4.
First oil circuit mouth 11 of first hydraulic motor 6 and second oil circuit mouth 14 of second hydraulic motor 10 respectively are connected an actuator port of servo valve 16.By switching servo valve 16, can change being communicated with of the flow direction of pressure oil and opening pressure oil and oil circuit mouth 11, oil circuit mouth 14.
One end connection reducer 5 of hydraulic motor 6,10 output shafts, decelerator 5 fixedly connected work tops 4, the output shaft of decelerator 5 connects gear 8; The other end of first hydraulic motor 6 or second hydraulic motor 10 output shaft connects encoder 7.Encoder 7 feeds back to rotary position information in the control system, the control that servo valve 16 is carried out.
First oil circuit mouth 13 of second oil circuit mouth 12 of first hydraulic motor 6, second hydraulic motor 10 connects pressure-reducing valves 17 outlets, and the import of pressure-reducing valve 17 connects the oil-out of hydraulic pump.Second oil circuit mouth 12 of first hydraulic motor 6 is connected with pressure-reducing valve 17 post-decompression pressure oils with first oil circuit mouth 13 of second hydraulic motor 10.
Pressure-reducing valve 17 outlet is connected with the inlet of overflow valve 19, first oil circuit mouth 13 of second oil circuit mouth of first hydraulic motor 6 12, second hydraulic motor 10 be connected that pressure-reducing valve 17 exports and the inlet of overflow valve 19 between.Switch servo valve 16, when the pressure oil of oil circuit mouth 11 and oil circuit mouth 14 boths and hydraulic pump output disconnects, the trend of ordering about first hydraulic motor 6 and second hydraulic motor 10 mutual reverse rotation is arranged through pressure-reducing valve 17 post-decompression pressure oils, two gears 8 with reverse rotation trend support the opposite flank of tooth contact engagement of bull gear 2 gear teeth with revolution respectively, inner ring 3 is supported in the locking revolution, do not flow through pressure oil after the decompression of first hydraulic motor 6, second hydraulic motor 10, flow back to fuel tank 20 through the overflow valve 19 that is controlled under the certain pressure.
Pressure-reducing valve 17 outlet has check valve 18 between entering the mouth with overflow valve 19, and first oil circuit mouth 13 of second oil circuit mouth of first hydraulic motor 6 12, second hydraulic motor 10 is connected check valve 18 back.Check valve 18 prevents that pressure oil from flowing backwards to pressure-reducing valve 17.
Hydraulic pump is a constant pressure variable displacement pump.
The utility model has the advantages that: two hydraulic motor series connection are used, continuous oil circuit mouth connects post-decompression pressure oil between two hydraulic motors, when the oil circuit mouth at two hydraulic motor two ends all disconnects with the pressure oil of hydraulic pump output, post-decompression pressure oil has the trend of ordering about two mutual reverse rotations of hydraulic motor, two gears with reverse rotation trend support the opposite flank of tooth contact engagement of the bull gear gear teeth with revolution respectively, inner ring is supported in the locking revolution, eliminate the influence in gears engaged backhaul gap, guaranteed robot whole revolution support rotating accuracy.A hydraulic motor output shaft connects encoder, and encoder feeds back to rotary position information in the control system, by control system servo valve is controlled, and can realize the accurate control to oil circuit.
Description of drawings
Fig. 1 is the mechanical part schematic diagram of an embodiment of the utility model;
Fig. 2 is the hydraulic part schematic diagram of Fig. 1 embodiment;
The specific embodiment
The lower end of first hydraulic motor 6 shown in Figure 1 and second hydraulic motor 10 output shaft is connected a planetary reduction gear 5 separately, decelerator 5 is by adjusting flange 15 fixedly connected work tops 4, the output shaft of decelerator 5 connects gear 8, and the upper end of hydraulic motor 6 output shafts connects rotary encoder 7.Revolution is supported by revolution support bull gear 2, steel ball 9, revolution and is supported inner ring 3 and form, the fixedly connected base 1 in lower surface of bull gear 2 is supported in revolution, the fixedly connected work top 4 in inner ring 3 upper surfaces is supported in revolution, be welded with Working rack on the work top 4, revolution is supported inner ring 3 and can be rotated, and gear 8 supports bull gear 2 engagements with revolution.
First hydraulic motor 6 shown in Figure 2 and second hydraulic motor 10 series connection, an actuator port 21 of servo valve 16 connects first oil circuit mouth 11 of hydraulic motor 6, second oil circuit mouth 12 of hydraulic motor 6 connects first oil circuit mouth 13 of hydraulic motor 10, second oil circuit mouth 14 of hydraulic motor 10 connects another actuator port 22 of servo valve 16, the oil-in 23 of servo valve 16 and oil return opening 24 are communicated with the oil-out and the fuel tank 20 of constant pressure variable displacement pump respectively, and constant pressure variable displacement pump does not draw among the figure.The import of pressure-reducing valve 17 is communicated with the oil-out of constant pressure variable displacement pump, one way outlet of pressure-reducing valve 17 connects fuel tank 20, another way outlet connects the inlet of overflow valve 19, between pressure-reducing valve 17 and the overflow valve 19 check valve 18 is arranged, pressure-reducing valve 17 arrives 8Mpa with the pressure oil pressure drop of constant pressure variable displacement pump oil-out, overflow valve 19 controls to 10Mpa with oil pressure, and second oil circuit mouth 12 of hydraulic motor 6, first oil circuit mouth 13 of hydraulic motor 10 are connected the back of check valve 18.Second oil circuit mouth 12 of hydraulic motor 6, first oil circuit mouth 13 of hydraulic motor 10 remain the pressure of 8-10Mpa.
When servo valve 16 switches to right position, the oil-in 23 of servo valve 16 is connected an actuator port 21 of servo valve 16, another actuator port 22 of servo valve 16 is connected the oil return opening 24 of servo valve 16, after first oil circuit mouth 11 of first hydraulic motor 6 feeds 14Mpa pressure oil, hydraulic motor 6 begins rotation, rotary encoder 7 feeds back to rotating physical location the control system of servo valve 16 timely, this moment, first oil circuit mouth 13 of second hydraulic motor 10 also fed pressure oil, hydraulic motor 10 begins rotation, the planetary reducer 5 that connects hydraulic motor 6 and hydraulic motor 10 drives separately that gear 8 rotate in the same way, and gear 8 supports bull gear 2 engagement drive work tops 4 with revolution and clockwise rotates; When servo valve 16 switches to meta, second oil circuit mouth 14 pressure of first oil circuit mouth 11 of hydraulic motor 6 and hydraulic motor 10 reduce to 0, hydraulic motor 6 and 10 stops the rotation, and there is the pressure of 8-10Mpa all the time in first oil circuit mouth 13 of second oil circuit mouth 12 of hydraulic motor 6 and hydraulic motor 10, make this moment hydraulic motor 6 and hydraulic motor 10 have the trend of rotating to different directions, thus gear 8 locking work tops 4.
When servo valve 16 arrives position, a left side, the oil-in 23 of servo valve 16 is connected another actuator port 22 of servo valve 16, when an actuator port 21 of servo valve 16 is connected the oil return opening 24 of servo valve 16, after second oil circuit mouth 14 of second hydraulic motor 10 feeds 14Mpa pressure oil, hydraulic motor 10 begins rotation, this moment, second oil circuit mouth 12 of first hydraulic motor 6 also fed pressure oil, hydraulic motor 6 rotations, rotary encoder 7 feeds back to rotating physical location the control system of servo valve 16 timely, connect hydraulic motor 6, the planetary reducer 5 of hydraulic motor 10 drives separately that gear 8 rotates in the same way, and gear 8 and revolution are supported bull gear 2 engagements and driven work tops 4 and rotate counterclockwise; When servo valve 16 switches to meta, second oil circuit mouth 14 of hydraulic motor 10 and first oil circuit mouth 11 pressure of hydraulic motor 6 reduce to 0, hydraulic motor 6 and 10 stops the rotation, and there is the pressure of 8-10MPpa all the time in second oil circuit mouth 12 of first oil circuit mouth 13 of hydraulic motor 10 and hydraulic motor 6, hydraulic motor 6 and hydraulic motor 10 are had to different direction rotation trend, thus gear 8 locking work tops 4.
By cooperating of above machinery and hydraulic part, finished the locking of double motor retaining mechanism, can guarantee the slewing equipment rotating accuracy be controlled at ± 0.025 °.
Claims (7)
1, a kind of double motor retaining mechanism, comprise upward fixedly connected driving power of revolution support inner ring (3), drive power-actuated gear (8), support bull gear (2) with the revolution that is fixed on the base (1) of gear (8) engagement, it is characterized in that first hydraulic motor (6) and second hydraulic motor (10) that drive power respectively drive a gear (8); First hydraulic motor (6) and second hydraulic motor (10) series connection, second oil circuit mouth (12) of first hydraulic motor (6) links to each other with first oil circuit mouth (13) of second hydraulic motor (10), and is connected with post-decompression pressure oil; First oil circuit mouth (11) of first hydraulic motor (6) or second oil circuit mouth (14) of second hydraulic motor (10) connect the pressure oil of hydraulic pump output or the pressure oil of both and hydraulic pump output disconnects.
2, a kind of double motor retaining mechanism according to claim 1, the fixedly connected base of end face (1) that it is characterized in that revolution support bull gear (2), the fixedly connected work top of end face (4) of inner ring (3) is supported in revolution, revolution is supported inner ring (3) and can be rotated, and hydraulic motor (6), (10) are fixed on the work top (4).
3, a kind of double motor retaining mechanism according to claim 1 is characterized in that second oil circuit mouth (14) of first oil circuit mouth (11) of first hydraulic motor (6) and second hydraulic motor (10) respectively is connected an actuator port of servo valve (16).
4, a kind of double motor retaining mechanism according to claim 2, an end connection reducer (5) that it is characterized in that hydraulic motor (6), (10) output shaft, the fixedly connected work top of decelerator (5) (4), the output shaft of decelerator (5) connects gear (8); The other end of first hydraulic motor (6) or second hydraulic motor (10) output shaft connects encoder (7).
5, according to claim 1 or 3 described a kind of double motor retaining mechanisms, it is characterized in that second oil circuit mouth (12) of first hydraulic motor (6), first oil circuit mouth (13) of second hydraulic motor (10) connect pressure-reducing valve (17) outlet, the import of pressure-reducing valve (17) connects the oil-out of hydraulic pump.
6, a kind of double motor retaining mechanism according to claim 5, it is characterized in that pressure-reducing valve (17) outlet is connected with the inlet of overflow valve (19), first oil circuit mouth (13) of second oil circuit mouth (12) of first hydraulic motor (6), second hydraulic motor (10) is connected between the inlet of pressure-reducing valve (17) outlet and overflow valve (19).
7, a kind of double motor retaining mechanism according to claim 6, it is characterized in that between pressure-reducing valve (17) outlet and overflow valve (19) inlet check valve (18) being arranged, first oil circuit mouth (13) of second oil circuit mouth (12) of first hydraulic motor (6), second hydraulic motor (10) is connected check valve (18) back.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009200182979U CN201342673Y (en) | 2009-01-19 | 2009-01-19 | Dual-motor locking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009200182979U CN201342673Y (en) | 2009-01-19 | 2009-01-19 | Dual-motor locking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201342673Y true CN201342673Y (en) | 2009-11-11 |
Family
ID=41274256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2009200182979U Expired - Fee Related CN201342673Y (en) | 2009-01-19 | 2009-01-19 | Dual-motor locking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201342673Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105626842A (en) * | 2016-03-18 | 2016-06-01 | 广州阳普医疗科技股份有限公司 | Eliminate backlash subassembly |
| WO2016202922A1 (en) * | 2015-06-17 | 2016-12-22 | Yaskawa Nordic Ab | A robot cell comprising an industrial robot and a positioner |
| CN108443427A (en) * | 2018-05-21 | 2018-08-24 | 深圳市六八工业自动化设备有限公司 | A kind of transmission device |
-
2009
- 2009-01-19 CN CNU2009200182979U patent/CN201342673Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016202922A1 (en) * | 2015-06-17 | 2016-12-22 | Yaskawa Nordic Ab | A robot cell comprising an industrial robot and a positioner |
| CN105626842A (en) * | 2016-03-18 | 2016-06-01 | 广州阳普医疗科技股份有限公司 | Eliminate backlash subassembly |
| CN105626842B (en) * | 2016-03-18 | 2018-05-29 | 广州阳普医疗科技股份有限公司 | Eliminate backlash subassembly |
| CN108443427A (en) * | 2018-05-21 | 2018-08-24 | 深圳市六八工业自动化设备有限公司 | A kind of transmission device |
| WO2019223210A1 (en) * | 2018-05-21 | 2019-11-28 | 深圳市六一八工业自动化设备有限公司 | Transmission device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201030485Y (en) | Double-servo numerical control rotating table | |
| CN201931284U (en) | Large high-precision numerical control rotating worktable | |
| CN2644060Y (en) | Numerical controlled large milling machine of five shaft linkage | |
| CN201529980U (en) | Multi-freedom-degree rotating device | |
| CN201342673Y (en) | Dual-motor locking mechanism | |
| CN1724882A (en) | Two-stage screw internal foodback digital fluid cylinder | |
| CN101701594B (en) | Independent controllable large rotating angle electrohydraulic servo oscillating hydraulic cylinder | |
| CN105269567A (en) | Platform manipulator | |
| CN201632864U (en) | Dual-drive anti-backlash feeding device | |
| CN106926055A (en) | A kind of C-axis scale division device for vertical lathe | |
| CN201410586Y (en) | Automatic regulating device of workpiece size of blanking machine | |
| CN208428017U (en) | A kind of worm and gear blind-mate device | |
| CN106493585A (en) | Direct-drive type pallet changer based on positioning and locking | |
| CN114310364B (en) | High-speed servo exchange workbench with external precise adjustment and internal positioning | |
| CN202147170U (en) | Rotary worktable double motor-driven device used for eliminating gear-driven gap | |
| CN202182153U (en) | Cantilever drive type double-motor anti-backlash rotary mechanism | |
| CN204843676U (en) | Two servo digit control machine tools | |
| CN101941155A (en) | Double-worm precision numerically controlled rotary table | |
| CN201807901U (en) | Double-worm precision numerical-controlled rotary operating platform | |
| CN108194451B (en) | Differential hydraulic cylinder | |
| CN102950473A (en) | Numerical control rotary table compositely driven by worm gear pair and gear pair and control method of numerical control rotary table | |
| CN102248432A (en) | Device for eliminating gear transmission gap of rotating table in dual motor drive manner | |
| CN208629002U (en) | Rotary tray exchange mechanism | |
| CN103878624B (en) | Twin shaft shunt feed platform mechanism | |
| CN202517146U (en) | Hydraulic numerical control system of gear shaping machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091111 Termination date: 20140119 |